ECAS车身高度与整车姿态控制混杂自动机研究  

Research on hybrid automata for ECAS body heightand vehicle posture control

作　　者：刘洋 胡启国[1] 陆伟 付代轩 LIU Yang;HU Qiguo;LU Wei;FU Daixuan(School of Mechanotronics&Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400074,China;Southwest Branch of CNPC Logging Co.,Ltd.,Chongqing 400021,China)

机构地区：[1]重庆交通大学机电与车辆工程学院,重庆400074 [2]中国石油集团测井有限公司西南分公司,重庆400021

出　　处：《重庆理工大学学报（自然科学）》2023年第8期128-137,共10页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(52175042)。

摘　　要：针对电子控制空气悬架(electronically controlled air suspension, ECAS)系统存在明显的混杂动态特征,不易于车身高度和整车姿态精确控制等问题,建立了考虑电磁阀气动特性的ECAS整车非线性机理模型,通过设置车身高度、侧倾角和俯仰角的变化范围设计了描述悬架系统各电磁阀开关切换状态的混杂自动机;利用混合逻辑动态(mixed logical dynamics, MLD)建模方法将所设计的混杂自动机编译为标准MLD模型,从而可直接调整电磁阀的开关状态实现车身高度与整车姿态之间的协调控制;最后对所设计的混杂自动机进行仿真验证。仿真结果表明,该混杂自动机通过对电磁阀开关进行逻辑控制,可以精确地控制车身高度并有效地改善整车姿态,在一定程度上提高了操纵稳定性和乘坐舒适性。Aiming at the problems that the electronically controlled air suspension(EACS)system has obvious mixed dynamic characteristics,and it is not easy to accurately control the height and attitude of the vehicle.In this paper,a non-linear mechanism model for ECAS considering the pneumatic characteristics of the solenoid valves is firstly developed,and a hybrid automaton describing the switching state of each solenoid valve in the suspension system is designed by setting the range of body height,side camber and pitch angle.Secondly,the mixed logical dynamics(MLD)modelling method is used to compile the designed hybrid automaton into a standard MLD model,so that the switching states of the solenoid valves can be adjusted directly to achieve coordinated control between vehicle height and overall vehicle attitude.The results show that the hybrid automaton can precisely control the body height and effectively improve the overall vehicle attitude by controlling the solenoid valves logically,which improves the handling stability and ride comfort to a certain extent.

关 键 词：空气悬架 混合逻辑动态建模 混杂自动机 车身高度调节 整车姿势控制 

分 类 号：U463.33[机械工程—车辆工程]